package svso.common.io.sensors

Get desktop application:
View/edit binary Protocol Buffers messages

• string series_type = 1

  series type

• optional math.matrix_array.MatrixArray Twc = 2

  4x4 matrix

• optional math.matrix_array.MatrixArray distortion = 3

  distortion 4x1 vector

Used in: RawImage

• float bytes = 1

Used in: RawImage

• int32 H = 1

• int32 W = 2

• int32 Channel = 3

  default to 1

also @see https://github.com/ApolloAuto/apollo/blob/master/modules/drivers/lidar/proto/velodyne.proto,

Used in: RawJaguar, VLP

• string series_type = 1

  series type

• uint64 timestamp = 2

• uint32 lines = 3

• float horizontal_res = 4

• float vertical_res = 5

• float detect_depth = 6

• float horizontal_span_of_view = 7

• float vertical_span_of_view = 8

• string channel_name = 9

  used for Publish/Subscribe the packet

Used in: RawImage

• float bytes = 1

• bytes data = 1

• optional ImgShape shape = 6

• int32 fps = 13

• string series_type = 2

  series type

• uint64 timestamp = 3

• int32 color_sys = 7

• optional RGB rgb = 8

• optional HSV hsv = 9

  controlling brightness and saturation

• int32 exposure = 10

  ** ISP

• int32 auto_white_balance = 11

• int32 white_ballance = 12

default to Jaguar100. In the io module we will depacket data into velodyne returns format

• bytes data = 1

  innovusion packet

• optional LidarHeader header = 2

  see product official website http://www.innovusion.com/product_show.php?id=392

defaults to VLP64.

• bytes data = 1

  velodyne packet

• optional LidarHeader header = 2

  see product official website